Assignment and Pursuit in Temporally Heterogeneous Robotic Teams

To my brothers Yannick and Victor. You're the best. iii ACKNOWLEDGEMENTS First and foremost, I want to thank my advisor Dr. Magnus Egerstedt for his guidance that made this work possible. He always made sure that this thesis is my own work, while still providing the most valuable input. It has been an honor to be a member of his research lab over the past year. Further I would like to thank my reading committee for providing their expertise and their time to evaluate my results. Georgia Tech Joint Master's program. They have both put great effort into this program to ensure the success of Benjamin and me, the first students to achieve this joint degree. I also thank the members of the GRITS-lab, past and present, for fruitful discussions and valuable input. Thank you to Dr. Daniel Pickem for suggesting and explaining the use of Markov chain Monte Carlo methods and to him and Paul Glotfelter for creating the Robotarium. It made the robotic implementation as simple as a walk in the park. Euiyoung, Nadine, Thomas and Xiaoshu for making this year abroad one of the best experiences of my life and always expanding my horizons. I have grown so much in this past year thanks to you. Finally, I want to express my gratitude to my parents for their never ending support throughout my life and for making me the person that I am today. Without your help, none of this would have been possible. I am greatly in your debt.